JPS61241079A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPS61241079A JPS61241079A JP61085837A JP8583786A JPS61241079A JP S61241079 A JPS61241079 A JP S61241079A JP 61085837 A JP61085837 A JP 61085837A JP 8583786 A JP8583786 A JP 8583786A JP S61241079 A JPS61241079 A JP S61241079A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- arm part
- swing
- industrial robot
- lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、互いに連続する二つのアーム部分が、互いに
平行な水平面内で揺動できるようにされた工業用ロボッ
トに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an industrial robot in which two arm portions that are continuous with each other can swing in a horizontal plane parallel to each other.
かかる工業用ロボットは例えば米国特許第４３４８１４
２号明細書（その第１図）に記載されている。この公知
の構造の場合、揺動アームは、互いにヒンジ継手で連結
されている２つの真っ直ぐなアーム部分で構成されてい
る。この構造のために、第１のアーム部分および第２の
アーム部分の終端位置における相対揺動範囲が制限され
、例えば中心線を中心として±１２０°の回転角度に限
定される。しかしながら場合によっては両方のアーム部
分が互いにほぼ平行な位置に揺動することが望まれるこ
とがある。Such industrial robots are described, for example, in US Pat. No. 4,348,14.
It is described in the specification of No. 2 (Figure 1 thereof). In this known construction, the swing arm consists of two straight arm parts that are hinged to each other. Due to this structure, the range of relative swing of the first arm part and the second arm part in their end positions is limited, for example to a rotation angle of ±120° about the center line. However, in some cases it may be desired for both arm parts to swing into positions substantially parallel to each other.
本発明の目的は、冒頭に述べた形式のロボットにおいて
、両方のアーム部分が互いにほぼ平行な位置に揺動する
ことができるような揺動７−ムの簡単な構造を提供する
ことにある。SUMMARY OF THE INVENTION The object of the invention is to provide a simple construction of a swinging arm in a robot of the type mentioned at the outset, in which both arm parts can swing into positions approximately parallel to each other.
本発明によればこの目的は、一つのアーム部分が揺動平
面内において角形レバーの形に形成されていることによ
って達成される。According to the invention, this object is achieved in that one arm part is designed in the swing plane in the form of a square lever.
ヒンジ継手が第１のアーム部分の端部にあって第２のア
ーム部分が直角に折り曲げられている構造によって、た
とえ両方のアーム部分が同じ水平揺動平面に配置されて
いる場合でも、少なくとも一方の終端位置において両方
のアーム部分が互いにほぼ平行に位置させることが簡単
にできる。The structure in which the hinge joint is located at the end of the first arm part and the second arm part is bent at right angles ensures that at least one of the arm parts is In the end position of the two arm parts can simply be positioned approximately parallel to each other.
本発明の一実施態様において、第１のアーム部分が円錐
状に形成され、第２のアーム部分がほぼ直角の角形レバ
ーの形に形成されていると有利である。この角形レバー
における両方のレバー部分の長さ比は、好ましくは１：
３から１：８の範囲に決められる。いずれにしても第２
のアーム部分が第１のアーム部分に接するまで困難なし
に揺動できるような比率が目的に通っている。In one embodiment of the invention, it is advantageous if the first arm part is designed conically and the second arm part is designed in the form of an approximately right-angled rectangular lever. The length ratio of both lever parts in this square lever is preferably 1:
It can be set in the range of 3 to 1:8. In any case, the second
The proportions are such that the arm part can be swung without difficulty until it touches the first arm part.
本発明の別の実施態様において、もし例えば二つのロボ
ットが協働する場合に例えば使用技術上の理由から有利
であるならば、ヒンジ継手装置ないし両方のアーム部分
を、必要な場合に第２のアーム部分の単純な回転によっ
て他方の終端位置も得られるように形成すると良い。In a further embodiment of the invention, if it is advantageous, for example for technical reasons of use, for example when two robots cooperate, the hinge joint device or both arm parts can be connected to the second robot, if necessary. It is preferable to form the arm so that the other end position can be obtained by simply rotating the arm portion.
以下図面に示す実施例に基づいて本発明の詳細な説明す
る。The present invention will be described in detail below based on embodiments shown in the drawings.
第１図から明らかなように、図示の水平ロボットは、電
動駆動装置１１を持った昇降部分１から構成され、この
昇降部分１によって、アーム部分２．３を持った揺動ア
ームは二重矢印ａ１の方向に移動できる。揺動アームの
第１のアーム部分２は、ギヤ付の電動駆動装置（図示せ
ず）によって回転軸心を中心に回転角度α２にわたって
揺動できる。As is clear from FIG. 1, the illustrated horizontal robot consists of a lifting part 1 with an electric drive 11, by means of which a swinging arm with an arm part 2. It can move in the direction of a1. The first arm portion 2 of the swing arm can swing around the rotation axis over a rotation angle α2 by a geared electric drive (not shown).
この円錐状の形をしたアーム部分２の前方端にヒンジ継
手３１が配置され１、第２のアーム部分３はこのヒンジ
継手３１を中心に回転角度α３にわたって揺動できる。A hinge joint 31 is arranged at the front end of this conical arm part 2, and the second arm part 3 can swing around this hinge joint 31 through a rotation angle α3.
このアーム部分３は直角の角形レバーの形に形成され、
その第１のレバー部分ｂ１と第２のレバー部分ｂ２との
長さ比は、例えばｌ：６である。This arm part 3 is formed in the form of a right-angled square lever,
The length ratio of the first lever portion b1 and the second lever portion b2 is, for example, 1:6.
図面から明らかなように、第１のアーム部分２を円錐状
に形成し、第２のアーム部分３を角形レバーの形に形成
することによって、両方のアーム部分２．３を互いにほ
ぼ平行な位置に簡単に揺動することができる。その際こ
の揺動運動の終端位置はｉ衝器３２（第３図）によって
制限される。As can be seen from the drawing, the first arm part 2 is designed conically and the second arm part 3 in the form of a square lever, so that the two arm parts 2.3 are placed in an approximately parallel position to each other. can be easily swung. The end position of this oscillating movement is then limited by an i-impulse 32 (FIG. 3).
なお第２のアーム部分３の前方端に、揺動・昇降複合軸
４があり、これは回転角度α４の方向に揺動できかつ二
重矢印ａ５の方向に昇降できる。It should be noted that at the front end of the second arm portion 3 there is a combined swing/lift shaft 4 which can swing in the direction of rotation angle α4 and can move up and down in the direction of double arrow a5.
第１図はロボットの概略側面図、第２図はその平面図、
第３図は揺動アームの両アーム部分のヒンジ継手におけ
る拡大詳細図である。
１：昇降部分、２．３：アーム部分、４：揺動・昇降複
合軸、１１：電動駆動装置、３１：ヒンジ継手。Figure 1 is a schematic side view of the robot, Figure 2 is its plan view,
FIG. 3 is an enlarged detailed view of the hinge joint of both arm portions of the swing arm. 1: Lifting part, 2.3: Arm part, 4: Swinging/lifting compound shaft, 11: Electric drive device, 31: Hinge joint.
Claims (1)
に平行な水平面内で揺動できるようにされた工業用ロボ
ットにおいて、一つのアーム部分（３）が揺動平面内に
おいて角形レバーの形に形成されていることを特徴とす
る工業用ロボット。 ２）第１のアーム部分（２）が円錐状に形成され、第２
のアーム部分（３）がほぼ直角の角形レバーの形に形成
されていることを特徴とする特許請求の範囲第１項記載
の工業用ロボット。 ３）直角の角形レバーにおける両方のレバー部分の長さ
比が、１：３から１：８の範囲にあることを特徴とする
特許請求の範囲第１項記載の工業用ロボット。[Claims] 1) In an industrial robot in which two arm parts (2, 3) that are continuous with each other can swing in a horizontal plane parallel to each other, one arm part (3) is in a swing plane. An industrial robot characterized by being formed in the shape of a square lever inside. 2) The first arm part (2) is formed conically and the second
2. Industrial robot according to claim 1, characterized in that the arm part (3) of the robot is formed in the form of a substantially right-angled rectangular lever. 3) The industrial robot according to claim 1, wherein the length ratio of both lever parts of the right-angled square lever is in the range of 1:3 to 1:8.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE3513706.1 | 1985-04-16 | ||
| DE19853513706 DE3513706A1 (en) | 1985-04-16 | 1985-04-16 | INDUSTRIAL ROBOT |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61241079A true JPS61241079A (en) | 1986-10-27 |
Family
ID=6268247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61085837A Pending JPS61241079A (en) | 1985-04-16 | 1986-04-14 | Industrial robot |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0198316B1 (en) |
| JP (1) | JPS61241079A (en) |
| DE (2) | DE3513706A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014210316A (en) * | 2013-04-18 | 2014-11-13 | マッスル株式会社 | Robot arm and method of using the same |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908315A (en) * | 2018-09-17 | 2018-11-30 | 深圳市越疆科技有限公司 | Forearm and articulated robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5548597A (en) * | 1978-10-04 | 1980-04-07 | Fujitsu Ltd | Artificial hand and arm |
| JPS5973283A (en) * | 1982-10-15 | 1984-04-25 | 松下電器産業株式会社 | Multi-joint type robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1539484A (en) * | 1967-10-05 | 1968-09-13 | Development of rotary crane turrets | |
| FR1548863A (en) * | 1967-12-12 | 1968-12-06 | ||
| DE2545865A1 (en) * | 1975-10-14 | 1976-10-28 | Joh Tirre Ohg Maschf | Hydraulic crane folding jib - has top section ram coupled at point protruding from it |
| US4274778A (en) * | 1979-06-05 | 1981-06-23 | Putnam Paul S | Mechanized stand handling apparatus for drilling rigs |
| US4393541A (en) * | 1980-02-19 | 1983-07-19 | General Dynamics Corporation/Convair Div. | Hinge for deployable structures self locking hinge |
| JPS5754089A (en) * | 1980-09-14 | 1982-03-31 | Dainichi Kiko Kk | |
| FR2510023A1 (en) * | 1981-07-21 | 1983-01-28 | Pharemme | HANDLING ROBOT |
| DE3268127D1 (en) * | 1981-08-20 | 1986-02-06 | Univ Bradford | Hinge mechanisms |
| DE3278424D1 (en) * | 1981-10-30 | 1988-06-09 | Hitachi Ltd | Industrial robot |
-
1985
- 1985-04-16 DE DE19853513706 patent/DE3513706A1/en not_active Withdrawn
-
1986
- 1986-04-01 DE DE8686104433T patent/DE3666171D1/en not_active Expired
- 1986-04-01 EP EP86104433A patent/EP0198316B1/en not_active Expired
- 1986-04-14 JP JP61085837A patent/JPS61241079A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5548597A (en) * | 1978-10-04 | 1980-04-07 | Fujitsu Ltd | Artificial hand and arm |
| JPS5973283A (en) * | 1982-10-15 | 1984-04-25 | 松下電器産業株式会社 | Multi-joint type robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014210316A (en) * | 2013-04-18 | 2014-11-13 | マッスル株式会社 | Robot arm and method of using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| DE3513706A1 (en) | 1986-10-23 |
| DE3666171D1 (en) | 1989-11-16 |
| EP0198316B1 (en) | 1989-10-11 |
| EP0198316A1 (en) | 1986-10-22 |
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